How to get model properties in a sensor plugin?

asked 2017-01-02 03:42:10 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

I am developing a underwater sonar for gazebo. It uses "some" rays booth vertically and horizontally in order to find obstacles and it also rotates over itself. I am already capable of getting the info from all the rays and publishing it to ROS in a pointcloud2 message, but I also need the heading at the "same" timestamp of the rays reading. Which can be accessed in a model plugin but not from the sensor plugin which publish the sensor output.. What would be the best way to access this info from the sensor plugin?

edit retag flag offensive close merge delete